HighState add MotorState

README.md

@@ -1,11 +1,14 @@
-# v3.4
+# v3.4.2
 The unitree_legged_sdk is mainly used for communication between PC and Controller board.
 It also can be used in other PCs with UDP.
 
 ### Notice
 support robot: Go1
 
-not support robot: Laikago, Aliengo, A1. (Check release [v3.2](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.2) for support)
+not support robot: Laikago, Aliengo, A1. (Check release [v3.3.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.3.1) for support)
+
+### Sport Mode
+Legged_sport >= v1.32
 
 ### Dependencies
 * [Boost](http://www.boost.org) (version 1.5.4 or higher)

examples/example_walk.cpp

@@ -14,7 +14,7 @@ class Custom
 {
 public:
     Custom(uint8_t level): 
-      safe(LeggedType::A1), 
+      safe(LeggedType::Go1), 
       udp(8090, "192.168.123.161", 8082, sizeof(HighCmd), sizeof(HighState))
     {
         udp.InitCmdData(cmd);

examples/example_wirelessHandle.cpp

@@ -14,7 +14,7 @@ using namespace UNITREE_LEGGED_SDK;
 class Custom
 {
 public:
-    Custom(uint8_t level): safe(LeggedType::A1), udp(level){
+    Custom(uint8_t level): safe(LeggedType::Go1), udp(level){
         udp.InitCmdData(cmd);
     }
     void UDPSend();

include/unitree_legged_sdk/comm.h

@@ -128,21 +128,22 @@ namespace UNITREE_LEGGED_SDK
 		uint16_t robotID;
 		uint32_t SN;
 		uint8_t bandWidth;
+		IMU imu;
+		MotorState motorState[20];
+		BmsState bms;
+		int16_t footForce[4];
+		int16_t footForceEst[4];
 		uint8_t mode;
 		float progress;
-		IMU imu;
-		uint8_t gaitType;                  // 0.idle  1.trot  2.trot running  3.climb stair
+		uint8_t gaitType;                  // 0.idle  1.trot  2.trot running  3.climb stair  4.trot obstacle
 		float footRaiseHeight;             // (unit: m, default: 0.08m), foot up height while walking
 		float position[3];                 // (unit: m), from own odometry in inertial frame, usually drift
 		float bodyHeight;                  // (unit: m, default: 0.28m),
 		float velocity[3];                 // (unit: m/s), forwardSpeed, sideSpeed, rotateSpeed in body frame
 		float yawSpeed;                    // (unit: rad/s), rotateSpeed in body frame        
+		float rangeObstacle[4];
 		Cartesian footPosition2Body[4];    // foot position relative to body
 		Cartesian footSpeed2Body[4];       // foot speed relative to body
-		int8_t temperature[20];
-		BmsState bms;
-		int16_t footForce[4];
-		int16_t footForceEst[4];
 		uint8_t wirelessRemote[40];
 		uint32_t reserve;
 		uint32_t crc;
@@ -168,7 +169,6 @@ namespace UNITREE_LEGGED_SDK
 											// 11. straightHand
 											// 12. dance1
 											// 13. dance2
-											// 14. two leg stand
 
 		uint8_t gaitType;                  // 0.idle  1.trot  2.trot running  3.climb stair
 		uint8_t speedLevel;                // 0. default low speed. 1. medium speed 2. high speed. during walking, only respond MODE 3

include/unitree_legged_sdk/loop.h

@@ -17,7 +17,7 @@
 namespace UNITREE_LEGGED_SDK 
 {
 
-constexpr int THREAD_PRIORITY    = 99;   // real-time priority
+constexpr int THREAD_PRIORITY    = 95;   // real-time priority
 
 typedef boost::function<void ()> Callback;
 
@@ -40,6 +40,10 @@ class Loop {
   std::thread _thread;
 };
 
+/*
+  period     unit:second
+  bindCPU    change the CPU affinity of this thread
+*/
 class LoopFunc : public Loop {
 public:
   LoopFunc(std::string name, float period, const Callback& _cb)

include/unitree_legged_sdk/udp.h

@@ -49,8 +49,8 @@ namespace UNITREE_LEGGED_SDK
             int sendLength, int recvLength, bool initiativeDisconnect = false, RecvEnum recvType = RecvEnum::nonBlock, bool setIpPort = false);  
         ~UDP();
 
-        void SetIpPort(const char* targetIP, uint16_t targetPort);  // if not indicated at constructor function
-        void SetRecvTimeout(int time);                                                  // use in RecvEnum::blockTimeout  (unit: ms)
+        void SetIpPort(const char* targetIP, uint16_t targetPort);        // if not indicated at constructor function
+        void SetRecvTimeout(int time);                                    // use in RecvEnum::blockTimeout  (unit: ms)
 
         void SetDisconnectTime(float callback_dt, float disconnectTime);  // initiativeDisconnect = true, disconnect for another IP to connect
         void SetAccessibleTime(float callback_dt, float accessibleTime);  // check if can access data

include/unitree_legged_sdk/unitree_joystick.h

@@ -1,6 +1,7 @@
 /*****************************************************************
 Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
 *****************************************************************/
+
 #ifndef UNITREE_JOYSTICK_H
 #define UNITREE_JOYSTICK_H
 

include/unitree_legged_sdk/unitree_legged_sdk.h

@@ -1,7 +1,6 @@
-/************************************************************************
-Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
-Use of this source code is governed by the MPL-2.0 license, see LICENSE.
-************************************************************************/
+/*****************************************************************
+ Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
+******************************************************************/
 
 #ifndef _UNITREE_LEGGED_SDK_H_
 #define _UNITREE_LEGGED_SDK_H_